#-------------------------------------------------
#
# Project created by 华磊　２０１７０７０１
#
#-------------------------------------------------

QT += xml
QT += core network

#DEFINES  += D_USE_ROS

#DEFINES += D_USE_MD5_CHECK
DEFINES += D_USE_UI
#DEFINES += D_USE_MOTION_UNIT_TEST //单元测试时打开，集成时一定要关掉。
DEFINES += QT_NO_PRINTER


contains( DEFINES, D_USE_MOTION_UNIT_TEST ){
message("motion unit test on !")
}else{
message("motion unit test off !!")

}

contains( DEFINES, D_USE_UI ){
QT    +=  gui
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
}

INCLUDEPATH += $$PWD
DEPENDPATH += $$PWD

TARGET = AxisObject
TEMPLATE = lib
CONFIG += staticlib

DEFINES += AXISOBJECT_LIBRARY

SOURCES +=  $$PWD/axisgroup.cpp \
    $$PWD/axisobject.cpp \
    $$PWD/coordinatetrajectory.cpp \
    $$PWD/JointDecouple/jointdecouple.cpp \
    $$PWD/zeromanagement.cpp \
    $$PWD/parametermanagement.cpp \
    dragcontrol.cpp \
    JointDecouple/dataanalysizer.cpp \
    JointDecouple/dataanalysizerdouble.cpp \
    filteringalgorithm.cpp \
    couplecontrolmanagement.cpp \
    path_3bezier.cpp \
    velocityprofile_improvedspline.cpp \
    gantrycontrol.cpp \
    zerocalculate.cpp \
    velocityprofile_sin.cpp \
    parametermanagement.cpp \
    motionmessage.cpp

HEADERS +=  $$PWD/axisgroup.h \
    $$PWD/axisobject.h \
    $$PWD/coordinatetrajectory.h \
#    $$PWD/JointDecouple/dataanalysizerdouble.h \
    $$PWD/JointDecouple/jointdecouple.h \
    $$PWD/AxisDefines.h \
    $$PWD/zeromanagement.h \
    $$PWD/parametermanagement.h \
    trajectoryudefine.h \
    dragcontrol.h \
    JointDecouple/dataanalysizer.h \
    JointDecouple/dataanalysizerdouble.h \
    filteringalgorithm.h \
    couplecontrolmanagement.h \
    path_3bezier.h \
    velocityprofile_improvedspline.h \
    gantrycontrol.h \
    zerocalculate.h \
    velocityprofile_sin.h \
    motionmessage.h

INCLUDEPATH +=../AxisSimpleTp
INCLUDEPATH +=../CarvingModule
INCLUDEPATH +=../PidRegulator/
INCLUDEPATH +=../HmiGsoapQt/
INCLUDEPATH +=../DomParser
LIBS += -L../../lib -lDomParser
INCLUDEPATH +=../Md5Check
LIBS += -L../../lib -lMd5Check
LIBS += -L../../lib -lXmlParse
INCLUDEPATH +=../BeltTrackManager/
INCLUDEPATH += ../../include/MacroDefine
INCLUDEPATH += ../../include/
DEPENDPATH += ../../include/
INCLUDEPATH += ../../include/actions/INC
INCLUDEPATH += ../../include/actions/INC/Linux
INCLUDEPATH += ../../include/ethercat-igh

#INCLUDEPATH += ../../include/alLib
#INCLUDEPATH += ../../include/alLib/Eigen
#INCLUDEPATH += ../../include/alLib/gsl
#INCLUDEPATH += ../../include/alLib
INCLUDEPATH +=/usr/include/eigen3

INCLUDEPATH +=../CoordinateModule
INCLUDEPATH +=../MotionServer
#INCLUDEPATH +=../RosClient
INCLUDEPATH +=../PointData
INCLUDEPATH +=../RegData
INCLUDEPATH +=../EcatCore
INCLUDEPATH +=../VrepRemoteControlor
INCLUDEPATH +=../MessageLog
INCLUDEPATH +=../Md5Check
INCLUDEPATH +=../RosApi
INCLUDEPATH +=../Cu1PositionModule
INCLUDEPATH +=../VisionMatch
INCLUDEPATH +=../VehicleControl
INCLUDEPATH += ../../include/vehicle

INCLUDEPATH += /usr/local/include/kdl

#FORMS += \
#    $$PWD/TestUi/motorstatusview.ui \
#    $$PWD/TestUi/motionform.ui \
#    TestUi/balljoystick.ui


contains( DEFINES, D_USE_ROS ){
message('TcrControllerByLib use ROS')

INCLUDEPATH +=../AmclAdvance
INCLUDEPATH+=/opt/ros/kinetic/include
INCLUDEPATH+=/home/tcr/tcr100_ws/devel/include
INCLUDEPATH +=../HmiGsoapQt

}else{

}

#DEFINES += BUILD_ARM
DEFINES += BUILD_X86_LINUX
#DEFINES += BUILD_X86_WINDOWS #为什么其它库pro也要定义这个才起作用。


contains( DEFINES, BUILD_X86_WINDOWS ){
message("project use BUILD_X86_WINDOWS !")
}
contains( DEFINES, BUILD_X86_LINUX ){
message("project use BUILD_X86_LINUX !")

}
contains( DEFINES, BUILD_ARM ){
message("project use BUILD_ARM !")
}



contains( DEFINES, BUILD_X86_WINDOWS ){
message("project use BUILD_X86_WINDOWS !")
DESTDIR =/agvwork/AgvFundation/fundation/lib/x86_WINDOWS
#编译中间文件目录
UI_DIR += ../../build/tmpBuildDirectory_windows
MOC_DIR +=../../build/tmpBuildDirectory_windows
OBJECTS_DIR += ../../build/tmpBuildDirectory_windows
RCC_DIR += ../../build/tmpBuildDirectory_windows
}

contains( DEFINES, BUILD_X86_LINUX ){
message("project use BUILD_X86_LINUX !")
DESTDIR =/agvwork/AgvFundation/fundation/lib



#编译中间文件目录
UI_DIR += ../../build/tmpBuildDirectory
MOC_DIR +=../../build/tmpBuildDirectory
OBJECTS_DIR += ../../build/tmpBuildDirectory
RCC_DIR += ../../build/tmpBuildDirectory
}

contains( DEFINES, BUILD_ARM ){
message("project use BUILD_ARM !")
DESTDIR =/agvwork/AgvFundation/fundation/lib-arm



#编译中间文件目录
UI_DIR += ../../build/tmpBuildDirectory_arm
MOC_DIR +=../../build/tmpBuildDirectory_arm
OBJECTS_DIR += ../../build/tmpBuildDirectory_arm
RCC_DIR += ../../build/tmpBuildDirectory_arm
}



